Central control method and central control system

ABSTRACT

Embodiments of the present disclosure provide a central control method. The method includes: obtaining identifications, locations and states of objects in a port; generating and displaying a port electronic map based on the identifications, locations, and states of the objects; and displaying, upon detecting that an object in the port electronic map is being operated, the identification, location, and/or state of the operated object. With the present disclosure, the monitored content can be extended to information, such as identifications, locations and states, related to the respective objects. Compared with the existing port monitoring system, the monitoring is more thorough and comprehensive, which is advantageous for improving port operation security and service execution efficiency. Further, embodiments of the present disclosure provide a central control system.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a Continuation of U.S. patent application Ser. No.16/557,389 filed Aug. 30, 2019, and claims priority to Chinese PatentApplication No. 201811015425.4 filed Aug. 31, 2018.

TECHNICAL FIELD

Embodiments of the present disclosure relate to unmanned drivingtechnology, and more particularly, to a central control method and acentral control system.

BACKGROUND

This section is intended to provide a background or context for theembodiments of the present disclosure as set forth in the claims. Thedescription here is not admitted to be prior art by mere inclusion inthis section.

With the continuous development of the unmanned driving technology, moreand more unmanned driving products are applied. It is currently one ofthe research hotspots in the unmanned driving technology to apply theunmanned driving technology to the field of logistics.

SUMMARY

In the process of implementing the present disclosure, the inventorshave found that a traditional port generally uses an electronic mapprovided by a map provider to monitor the situation occurring in realtime in the port. Such electronic map can only show information such asa geographical environment of the port and GPS locations of traditionalvehicles, but cannot provide information on apparatuses, such as shorecranes and tire cranes, and facilities, such as roads and pipelines inthe port. On the other hand, unmanned vehicles have more stateinformation to monitor than conventional vehicles. When the unmannedvehicles are used in the port to perform logistics distribution tasks,the existing electronic map technology cannot satisfy various monitoringrequirements for the unmanned vehicles.

In view of this, the present disclosure provides a central controlmethod and a central control system, capable of achieving comprehensivemonitoring of a port by obtaining identifications, locations, and statesof objects, such as port machinery apparatuses, infrastructures, andunmanned vehicles, in the port in real time.

In this context, the embodiments of the present disclosure are intendedto provide a central control method and a central control system.

In a first aspect of the embodiments of the present disclosure, acentral control method applied in a port is provided. The methodincludes: obtaining identifications, locations and states of objects inthe port; generating and displaying a port electronic map based on theidentifications, locations, and states of the objects; and displaying,upon detecting that an object in the port electronic map is beingoperated, the identification, location, and/or state of the operatedobject.

In a second aspect of the embodiments of the present disclosure, acentral control system applied in a port is provided. The centralcontrol system includes a processor, a memory, and a computer programstored on the memory and executable by the processor. The processor isconfigured to execute the computer program to perform the above centralcontrol method applied in the port.

In a third aspect of the embodiments of the present disclosure, acomputer readable storage medium is provided. The computer readablestorage medium has a computer program stored thereon. The computerprogram, when executed by a processor, causes the processor to performthe above central control method applied in a port.

In a fourth aspect of the embodiments of the present disclosure, acentral control method applied in a closed logistics distribution areais provided. The method includes: obtaining identifications, locationsand states of objects in the closed logistics distribution area;generating and displaying an electronic map based on theidentifications, locations, and states of the objects; and displaying,upon detecting that an object in the electronic map is being operated,the identification, location, and/or state of the operated object.

In a fifth aspect of the embodiments of the present disclosure, acentral control system applied in a closed logistics distribution areais provided. The central control system includes a processor, a memory,and a computer program stored on the memory and executable by theprocessor. The processor is configured to execute the computer programto perform the above central control method applied in the closedlogistics distribution area.

In a sixth aspect of the embodiments of the present disclosure, acomputer readable storage medium is provided. The computer readablestorage medium has a computer program stored thereon. The computerprogram, when executed by a processor, causes the processor to performthe above central control method applied in a closed logisticsdistribution area.

With the above solutions, the monitored content can be extended toinformation, such as identifications, locations and states, related tothe respective objects. Compared with the existing port monitoringsystem, the monitoring is more thorough and comprehensive, which isadvantageous for improving port operation security and service executionefficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the exemplaryembodiments of the present disclosure will become more apparent from thefollowing detailed description with reference to the figures. In thefigures, a number of embodiments of the present disclosure are shown forillustrating, rather than limiting the present disclosure. In thefigures:

FIG. 1 schematically shows a central control method applied in a portaccording to an embodiment of the present disclosure;

FIG. 2 schematically shows a port electronic map according to anembodiment of the present disclosure;

FIG. 3 schematically shows a central control method applied in a closedlogistics distribution area according to another embodiment of thepresent disclosure;

FIG. 4 schematically shows a vehicle management interface according toanother embodiment of the present disclosure;

FIG. 5 schematically shows a vehicle management interface having a portelectronic map as a background according to another embodiment of thepresent disclosure;

FIG. 6 schematically shows a travel route of an unmanned vehicle asdisplayed in a port electronic map according to another embodiment ofthe present disclosure; and

FIG. 7 schematically shows a task management interface according toanother embodiment of the present disclosure.

In the figures, the same or corresponding reference numerals indicatethe same or corresponding parts.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The principles and spirits of the present disclosure will be describedbelow with reference to a number of exemplary embodiments. It is to beunderstood that the embodiments are presented only to enable thoseskilled in the art to better understand the present disclosure, insteadof limiting the scope of the present disclosure in any way. Rather,these embodiments are provided to make the present disclosure morethorough and complete and to fully convey the scope of the presentdisclosure to those skilled in the art.

It can be appreciated by those skilled in the art that the embodimentsof the present disclosure can be implemented as a system, apparatus,device, method, or computer program product. Accordingly, the presentdisclosure may be implemented in hardware only, software only (includingfirmware, resident software, micro codes, etc.), or any combination ofhardware and software.

It is to be noted that the term “closed logistics distribution area” asused in the present disclosure refers to an area having a logisticsdistribution service and being relatively closed when compared with anexternal environment, including e.g., a highway port, a coastal port, amine, an airport, a cargo distribution center, a campus, or the like.

The term “and/or” as used herein only describes an association betweenassociated objects. For example, “A and/or B” means A, B or both. Forexample, “A, B, and/or C” means one or more of A, B, and C.

The principles and spirits of the present disclosure will be explainedin detail below. Various non-limiting embodiments of the presentdisclosure will be specifically described.

The present disclosure provides a central control method for monitoringvarious objects in a port. As shown in FIG. 1 , the method includes thefollowing steps.

At step S11, identifications, locations and states of objects in theport are obtained.

Optionally, the objects in the port may include, but not limited to,port machinery apparatuses, infrastructures, and unmanned vehicles.

Here, the port machinery apparatuses may include, but not limited to:reach stackers, empty container handling lift trucks, forklifts, porttire cranes (e.g., tire cranes), grabbers, overhead cranes, gantrycranes, rail-mounted container gantry cranes (e.g., rail-mounted gantrycranes), tire-type container gantry cranes (e.g., tire-type gantrycranes), or shore container cranes (e.g., shore cranes).

The identification of each port machinery apparatus may be an apparatusnumber, a MAC address, or a combination thereof.

The location of each port machinery apparatus may change. For example,when performing a hoisting task, a shore crane, a tire crane, or arail-mounted crane may move depending on a location of a container to behoisted.

The states of each port machinery apparatus may include, but not limitedto, one or more of: whether its communication is disconnected, whetherit is working, or whether it is malfunctioning.

The infrastructures may include, but not limited to, roads, wharfs,container areas, power supply lines, network transmission lines (e.g.,optical cables or copper cables), water supply pipes, fuel supply pipes,natural gas transmission pipes, or gas transmission pipes in the port.

The identification of each infrastructure can be a name, a number, ause, or any combination thereof.

The location of each infrastructure is generally fixed, but in somecases it may also change. For example, a location of a power supply linemay change as a new power supply tower is built.

The state of each infrastructure may include, but not limited to, one ormore of whether its communication is disconnected, whether it isavailable, or whether it is malfunctioning. For example, for a road, itsreal-time state can be: passable (which can be divided into smooth andcongested) or closed (which can be divided into maintained and blocked).

The unmanned vehicles are vehicles that use unmanned driving technologyto implement cargo functions, such as ordinary trucks, vans, closedtrucks, tank trucks, flatbed trucks, container trucks, dump trucks, andspecial-structure trucks.

The identification of each unmanned vehicle may be a license platenumber, a MAC address of a vehicle mounted device, or a combinationthereof.

The state of the unmanned vehicle may include, but not limited to, oneor more of: whether its communication is disconnected, a driving mode(including automated driving, human takeover, human intervention, or thelike), a traveling speed, an engine rotation speed, or a remaining fuelamount.

In a specific implementation, according to the present disclosure, theidentifications, locations, and states of the objects can be collectedby mounting data collection devices on the objects, and then theinformation such as the identifications, locations, and states collectedby the data collection devices can be obtained by mounting communicationdevices on the objects. Here, the data collection devices and thecommunication devices can implement their respective functions based oncorresponding protocols. For example, the data collection devices cancollect CAN bus data of the port machinery apparatuses, unmannedvehicles, and infrastructures based on the CAN bus protocol. Thecommunication devices can transmit information about the port machineryapparatuses, unmanned vehicles, and infrastructures to the centralcontrol system based on various Internet protocols.

At step S12, a port electronic map is generated and displayed based onthe identifications, locations, and states of the objects.

In particular, in this step, an electronic map can be generated based onthe geographic environment of the port, and an icon representing anobject can be displayed at a location corresponding to the object in acoordinate system of the electronic map. When the location of the objectchanges in the real world, the location of the icon representing theobject in the electronic map can be updated. In a specificimplementation, the icon may be a pattern designed according to the realappearance of the object, so as to visually represent the correspondingobject in the electronic map.

FIG. 2 shows an embodiment of a port electronic map generated accordingto the central control method of the present disclosure. As shown inFIG. 2 , the port electronic map includes objects such as shore cranes,unmanned vehicles, tire cranes, and roads.

At step S13, upon detecting that an object in the port electronic map isbeing operated, the identification, location, and/or state (i.e.,information such as one of more of the identification, location, andstate, referred to as related information hereinafter) of the operatedobject is displayed.

In particular, operations on the port electronic map may include, butnot limited to, cursor staying, single-clicking, or double-clickingusing an input device (such as a mouse, a keyboard, or a stylus), a usertouching a touch screen, and the like.

In particular, in this step, when it is determined that the operatedobject is an unmanned vehicle, the related information of the unmannedvehicle is displayed. When it is determined that the operated object isa port machinery apparatus, the related information of the portmachinery apparatus is displayed. When it is determined that theoperated object is an infrastructure, the related information of theinfrastructure is displayed.

Optionally, the step S12 of generating and displaying the portelectronic map based on the identifications, locations, and states ofthe objects may include: changing a display type of an icon representingan object in the port electronic map when the state of the objectchanges.

In particular, when the state of an object changes from normal todisabled, malfunctioning or disconnected (i.e., the location and stateof the object cannot be obtained due to loss of connection), the iconrepresenting the malfunctioning object in the port electronic map can bedisplayed as a predetermined type, such as flashing or being displayedin a brighter color (than a normal color), so that a user can find outand process it in time. In an embodiment, when an unmanned vehicle isdisconnected, the icon representing the unmanned vehicle can bedisplayed in the form of flashing. In another embodiment, when a road isnormally usable, the icon representing the road can be displayed ingray, and when the road is unusable due to a roadblock on the road, theicon of the road can be displayed in red. When there is a roadblock on aroad, an icon representing the roadblock can be added at a location ofthe roadblock on the road. In another embodiment, when a shore cranechanges from normally operating to malfunctioning, the iconcorresponding to the shore crane can be changed from being displayed ingray to being displayed in yellow.

Optionally, the central control method according to the presentdisclosure may further include: providing a management interface foreach type of objects, for displaying the related information of eachobject of the type.

FIG. 4 shows an embodiment of a central control method according to thepresent disclosure, where a vehicle management interface is providedwhen an unmanned vehicle is single-clicked in a port electronic map, fordisplaying related information of each unmanned vehicle in the port. Asshown in FIG. 4 , the vehicle management interface displays thefollowing information: a vehicle number, a vehicle state, a vehiclespeed, a fuel amount, a task number, a task state, a health state, and adelay (i.e., the delay for the unmanned vehicle to respond afterreceiving a command).

Optionally, the central control method according to the presentdisclosure may further include: displaying, upon detecting that theobject in the port electronic map is being operated, the managementinterface in a pop-up window with the port electronic map as abackground.

As shown in FIG. 5 , when an unmanned vehicle in the port electronic mapis double-clicked, a management interface for the unmanned vehicle isdisplayed in a pop-up window with the port electronic map as abackground.

Optionally, the central control method according to the presentdisclosure may further include: obtaining a state of an electronicdevice mounted on each object, and displaying the state of theelectronic device in the management interface corresponding to theobject.

For example, electronic devices that can be mounted on the portmachinery apparatuses and unmanned vehicles may include, but not limitedto: CPUs, GPUs, servers, cameras (such as monocular cameras andbinocular cameras), radars (laser radars, millimeter wave radars, andultrasonic radars), Inertial Measurement Units (IMUs), GPS positioningdevices, V2X communication devices, and the like.

Electronic devices that can be mounted on the infrastructures mayinclude, but not limited to: CPUs, GPUs, servers, cameras, temperaturesensors, humidity sensors, gas alarms, pressure sensors, accelerationsensors, ultraviolet sensors, pH sensors, liquid level sensors, and thelike.

The states of the electronic devices may include, but not limited to:whether it is operating normally, whether it is malfunctioning, measureddata, GPU utilization, GPU temperature, CPU utilization, CPUtemperature, memory usage, and the like.

As shown in FIG. 5 , the states and related data of the electronicdevices, such as a camera, a laser radar, a GPS, a GPU, and a CPU, aredisplayed in the management interface for the unmanned vehicle.

Optionally, the central control method according to the presentdisclosure may further include: generating a log for each object basedon the state of the electronic device mounted on the object, anddisplaying the log in the management interface corresponding to theobject.

Here, the log may include, but not limited to: time at which the objectstarts operating, time at which the object stops operating, time atwhich the object malfunctions, time at which the malfunction is fixed, acause of the malfunction, adjustments of parameters for the electronicdevice mounted on the object, and the like.

Optionally, the central control method according to the presentdisclosure may further include: receiving a logistics distribution task,and scheduling an unmanned vehicle to execute the logistics distributiontask.

In a specific implementation, in this step, an unmanned vehicle can beselected to perform the logistics distribution task, based on loadingand unloading addresses of the goods to be distributed in the logisticsdistribution task, a current location of each unmanned vehicle in theport, and the like.

Optionally, the central control method according to the presentdisclosure may further include: planning a travel route for the unmannedvehicle executing the logistics distribution task.

Optionally, the central control method according to the presentdisclosure may further include: displaying the travel route for theunmanned vehicle in the port electronic map when the operated object isthe unmanned vehicle executing the logistics distribution task.

As shown in FIG. 6 , the line connecting the start point and the endpoint displayed in the port electronic map indicates the travel route ofthe operated unmanned vehicle.

Optionally, the central control method according to the presentdisclosure may further include: extracting detailed information of thelogistics distribution task, and providing a task management interfacefor displaying the detailed information. The detailed information mayinclude one or more of: a task number, a task type, a goods number, agoods type, loading and unloading addresses, and the identification ofthe unmanned vehicle executing the logistics distribution task.

The information, such as the task number, the task type, the goodsnumber, the goods type, and the loading and unloading addresses can beobtained from an external source, e.g., from a Terminal Operating System(TOS), or can be inputted by a user using an input device. Theidentification of the unmanned vehicle executing the logisticsdistribution task can be determined after the unmanned vehicle wasselected for the logistics distribution task.

FIG. 7 is a schematic diagram showing an example of a task managementinterface according to the central control method of the presentdisclosure. The task management interface includes the followinginformation: task numbers, task types, task states, container numbers,container types, loading points (loading addresses), unloading points(unloading addresses), and executing vehicle numbers.

Optionally, the central control method according to the presentdisclosure may further include: determining an execution progress of thelogistics distribution task based on the location and state of theunmanned vehicle executing the logistics distribution task, anddisplaying the execution progress in the task management interface.

In a specific implementation, in this step, it can be determined whetherthe unmanned vehicle is on its way to the loading address, has arrivedat the loading address, is on its way to the unloading address, or hasarrived at the unloading address based on the location of the unmannedvehicle and changes thereof over time. In turn, it can be determinedwhether the logistics distribution task is in a state of to beallocated, being executed, or completed. When the logistics distributiontask is in the state of being executed, it can be further determinedwhether the unmanned vehicle is loading or unloading goods based onwhether the location of the unmanned vehicle is the loading address orthe unloading address and whether the traveling speed and the enginerotation speed of the unmanned vehicle are lower than predeterminedspeeds.

Optionally, the central control method according to the presentdisclosure may further include: obtaining a number of goods carried bythe unmanned vehicle executing the logistics distribution task, anddisplaying the identification of the unmanned vehicle in associationwith the number of goods carried by the unmanned vehicle in the taskmanagement interface. In an embodiment, when it is detected that theoperated object is an unmanned vehicle executing a logisticsdistribution task, the identification of the unmanned vehicle and thenumber of the goods carried by the unmanned vehicle can be displayed inassociation with each other in the management interface corresponding tothe type of unmanned vehicles.

Optionally, the central control method according to the presentdisclosure may further include: calculating time required for completingthe logistics distribution task based on a travel route, a location, anda traveling speed of the unmanned vehicle, and displaying the time inthe task management interface. In particular, in this step, the timerequired for the unmanned vehicle to arrive at the loading and unloadingaddresses may be calculated first based on the travel route of theunmanned vehicle and the location and traveling speed of the unmannedvehicle. Then, the time required for completing the logisticsdistribution task can be calculated based further on the time requiredfor loading and unloading in the history. In an embodiment, when it isdetected that the operated object is an unmanned vehicle executing alogistics distribution task, the identification of the unmanned vehicleand the time required for completing the logistics distribution task canbe displayed in association with each other in the management interfacecorresponding to the type of unmanned vehicles.

Based on the same inventive concept, the present disclosure alsoprovides a central control system for monitoring various objects in aport, which will be described in detail below.

The present disclosure provides a central control system applied in aport. The central control system includes a first processor, a firstmemory, and a computer program stored on the first memory and executableby the first processor. The first processor is configured to execute thecomputer program to: obtain identifications, locations and states ofobjects in a port; generate and display a port electronic map based onthe identifications, locations, and states of the objects; and display,upon detecting that an object in the port electronic map is beingoperated, the identification, location, and/or state of the operatedobject.

The method the first processor is configured to perform when executingthe computer program is implemented based on the same inventive conceptas the above central control method shown in FIG. 1 and has the samenon-limiting embodiments as the above central control method shown inFIG. 1 . For further details, reference can be made to the method asdescribed above in connection with FIG. 1 and the description thereofwill be omitted here.

Optionally, in the present disclosure, the first processor may beimplemented as a circuit, a chip or any other electronic component. Forexample, the first processor may also include one or moremicrocontrollers, one or more Field Programmable Gate Arrays (FPGAs),one or more Application Specific Integrated Circuits (ASICs), one ormore Digital Signal Processors (DSPs), one or more integrated circuits,and the like.

Optionally, in the present disclosure, the first memory may beimplemented as a circuit, a chip or any other electronic component. Forexample, the first memory can include one or more Read Only Memories(ROMs), Random Access Memories (RAMs), flash memories, ElectricallyProgrammable ROMs (EPROMs), Electrically Programmable and Erasable ROMs(EEPROMs), embedded Multi-Media Cards (eMMCs), hard drives or anyvolatile or non-volatile mediums.

Based on the inventive idea of the present disclosure, the presentdisclosure also provides a computer readable storage medium. Thecomputer readable storage medium has a computer program stored thereon.The computer program, when executed by a processor, causes the processorto perform the central control method shown in FIG. 1 . The storagemedium may be one or more Read Only Memories (ROMs), Random AccessMemories (RAMs), flash memories, Electrically Programmable ROMs(EPROMs), Electrically Programmable and Erasable ROMs (EEPROMs),embedded Multi-Media Cards (eMMCs), hard drives or any volatile ornon-volatile mediums.

In summary, the central control method applied in a port and the centralcontrol system applied in a port according to the embodiments of thepresent disclosure have the following advantageous effects.

(1) The monitored content can be extended to the information, such asidentifications, locations and states, related to the respectiveobjects. Compared with the existing port monitoring system, themonitoring is more thorough and comprehensive, which is advantageous forimproving port operation security and service execution efficiency.

(2) The monitored objects are extended to objects such as port machineryapparatuses, infrastructures and unmanned vehicles, which isadvantageous for acquiring real-time situations of the respective portmachinery apparatuses, infrastructures and unmanned vehicles, such thata timely response can be made in the event of malfunctions ordisconnections.

(3) A management interface is provided for each type of objects, whichis advantageous for unified management of different types of objects.

(4) The states of various electronic devices mounted on the objects canbe monitored, so as to acquire real-time situations of the electronicdevices and determine whether the electronic devices are malfunctioningand the causes of the malfunctions, which is advantageous for solvingthe problems timely and allow the electronic devices to resumeoperating.

(5) An unmanned vehicle can be automatically selected to perform alogistics distribution task, thereby improving the execution efficiencyof the logistics distribution service in the port, and thus the cargothroughput of the port.

(6) Based on the monitored related information of the respectiveobjects, a travel route can be automatically planned for the unmannedvehicle executing the logistics distribution task, thereby improving theresource utilization and reducing the logistics distribution cost, whileproviding a visual view of the travel route in the port electronic map.

(7) The execution progress and the time required for the logisticsdistribution task can be calculated based on the obtained relatedinformation of the unmanned vehicle. A task management interface can beprovided to display the detailed information and the execution progressof the logistics distribution task, which is advantageous for timelyacquiring the details and progress of the logistics distribution task,so as to improve the efficiency of the logistics distribution.

Based on the same inventive concept, the present disclosure alsoprovides a central control method, which can be applied to anyrelatively closed area, such as a highway port, a coastal port, a mine,an airport, a cargo distribution center, a campus, or the like.

As shown in FIG. 3 , the central control method includes the followingsteps.

At step S31: identifications, locations and states of objects in aclosed logistics distribution area are obtained.

Optionally, the objects in the closed logistics distribution area mayinclude, but not limited to, loading/unloading apparatuses,infrastructures, and unmanned vehicles.

The loading/unloading apparatuses as used herein refer to devices forloading, unloading, moving, and lifting goods in the closed logisticsdistribution area, including e.g., forklifts, cranes, elevators,conveyors, trucks, and computer-controlled mechanical arms having movingfunctions.

Optionally, the loading/unloading apparatuses may include, but notlimited to: reach stackers, empty container handling lift trucks,forklifts, port tire cranes (e.g., tire cranes), grabbers, overheadcranes, gantry cranes, rail-mounted container gantry cranes (e.g.,rail-mounted gantry cranes), tire-type container gantry cranes (e.g.,tire-type gantry cranes), or shore container cranes (e.g., shorecranes).

The identification of each loading/unloading apparatus may be anapparatus number, a MAC address, or a combination thereof.

The location of each loading/unloading apparatus may change, dependingon a location of goods to be loaded, unloaded, moved, or lifted.

The states of each loading/unloading apparatus may include, but notlimited to, one or more of: whether its communication is disconnected,whether it is working, or whether it is malfunctioning.

The infrastructures may include, but not limited to, roads, wharfs,container areas, power supply lines, network transmission lines (e.g.,optical cables or copper cables), water supply pipes, fuel supply pipes,natural gas transmission pipes, or gas transmission pipes in the closedlogistics distribution area.

The identification of each infrastructure can be a name, a number, ause, or any combination thereof.

The location of each infrastructure is generally fixed, but in somecases it may also change. For example, a location of a power supply linemay change as a new power supply tower is built.

The state of each infrastructure may include, but not limited to, one ormore of whether its communication is disconnected, whether it isavailable, or whether it is malfunctioning. For example, for a road, itsreal-time state can be: passable (which can be divided into smooth andcongested) or closed (which can be divided into maintained and blocked).

The unmanned vehicles are vehicles that use unmanned driving technologyto implement cargo functions, such as ordinary trucks, vans, closedtrucks, tank trucks, flatbed trucks, container trucks, dump trucks, andspecial-structure trucks.

The identification of each unmanned vehicle may be a license platenumber, a MAC address of a vehicle mounted device, or a combinationthereof.

The state of the unmanned vehicle may include, but not limited to, oneor more of: whether its communication is disconnected, a driving mode(including automated driving, human takeover, human intervention, or thelike), a traveling speed, an engine rotation speed, or a remaining fuelamount.

In a specific implementation, according to the present disclosure, theidentifications, locations, and states of the objects can be collectedby mounting data collection devices on the objects, and then theinformation such as the identifications, locations, and states collectedby the data collection devices can be obtained by mounting communicationdevices on the objects. Here, the data collection devices and thecommunication devices can implement their respective functions based oncorresponding protocols. For example, the data collection devices cancollect CAN bus data of the loading/unloading apparatuses, unmannedvehicles, and infrastructures based on the CAN bus protocol. Thecommunication devices can transmit information about theloading/unloading apparatuses, unmanned vehicles, and infrastructures tothe central control system based on various Internet protocols.

At step S32, an electronic map is generated and displayed based on theidentifications, locations, and states of the objects.

In particular, in this step, an electronic map can be generated based onthe geographic environment of the closed logistics distribution area,and an icon representing an object can be displayed at a locationcorresponding to the object in a coordinate system of the electronicmap. When the location of the object changes in the real world, thelocation of the icon representing the object in the electronic map canbe updated. In a specific implementation, the icon may be a patterndesigned according to the real appearance of the object, so as tovisually represent the corresponding object in the electronic map.

At step S33, upon detecting that an object in the electronic map isbeing operated, the identification, location, and/or state (i.e.,information such as one of more of the identification, location, andstate, referred to as related information hereinafter) of the operatedobject is displayed.

In particular, operations on the electronic map may include, but notlimited to, cursor staying, single-clicking, or double-clicking using aninput device (such as a mouse, a keyboard, or a stylus), a user touchinga touch screen, and the like.

In particular, in this step, when it is determined that the operatedobject is an unmanned vehicle, the related information of the unmannedvehicle is displayed. When it is determined that the operated object isa loading/unloading apparatus, the related information of theloading/unloading apparatus is displayed. When it is determined that theoperated object is an infrastructure, the related information of theinfrastructure is displayed.

Optionally, the step S32 of generating and displaying the electronic mapbased on the identifications, locations, and states of the objects mayinclude: changing a display type of an icon representing an object inthe electronic map when the state of the object changes.

In particular, when the state of an object changes from normal todisabled, malfunctioning or disconnected (i.e., the location and stateof the object cannot be obtained due to loss of connection), the iconrepresenting the malfunctioning object in the electronic map can bedisplayed as a predetermined type, such as flashing or being displayedin a brighter color (than a normal color), so that a user can find outand process it in time. In an embodiment, when an unmanned vehicle isdisconnected, the icon representing the unmanned vehicle can bedisplayed in the form of flashing. In another embodiment, when a road isnormally usable, the icon representing the road can be displayed ingray, and when the road is unusable due to a roadblock on the road, theicon of the road can be displayed in red. In another embodiment, when aforklift changes from normally operating to malfunctioning, the iconcorresponding to the forklift can be changed from being displayed ingray to being displayed in yellow.

Optionally, the central control method according to the presentdisclosure may further include: providing a management interface foreach type of objects, for displaying the related information of eachobject of the type.

Optionally, the central control method according to the presentdisclosure may further include: displaying, upon detecting that theobject in the electronic map is being operated, the management interfacein a pop-up window with the electronic map as a background.

Optionally, the central control method according to the presentdisclosure may further include: obtaining a state of an electronicdevice mounted on each object, and displaying the state of theelectronic device in the management interface corresponding to theobject.

For example, electronic devices that can be mounted on theloading/unloading apparatuses and unmanned vehicles may include, but notlimited to: CPUs, GPUs, servers, cameras (such as monocular cameras andbinocular cameras), radars (laser radars, millimeter wave radars, andultrasonic radars), Inertial Measurement Units (IMUs), GPS positioningdevices, V2X communication devices, and the like.

Electronic devices that can be mounted on the infrastructures mayinclude, but not limited to: CPUs, GPUs, servers, cameras, temperaturesensors, humidity sensors, gas alarms, pressure sensors, accelerationsensors, ultraviolet sensors, pH sensors, liquid level sensors, and thelike.

The states of the electronic devices may include, but not limited to:whether it is operating normally, whether it is malfunctioning, measureddata, GPU utilization, GPU temperature, CPU utilization, CPUtemperature, memory usage, and the like.

Optionally, the central control method according to the presentdisclosure may further include: generating a log for each object basedon the state of the electronic device mounted on the object, anddisplaying the log in the management interface corresponding to theobject.

Here, the log may include, but not limited to: time at which the objectstarts operating, time at which the object stops operating, time atwhich the object malfunctions, time at which the malfunction is fixed, acause of the malfunction, adjustments of parameters for the electronicdevice mounted on the object, and the like.

Optionally, the central control method according to the presentdisclosure may further include: receiving a logistics distribution task,and scheduling an unmanned vehicle to execute the logistics distributiontask.

In a specific implementation, in this step, an unmanned vehicle can beselected to perform the logistics distribution task, based on loadingand unloading addresses of the goods to be distributed in the logisticsdistribution task, a current location of each unmanned vehicle in theclosed logistics distribution area, and the like.

Optionally, the central control method according to the presentdisclosure may further include: planning a travel route for the unmannedvehicle executing the logistics distribution task.

Optionally, the central control method according to the presentdisclosure may further include: displaying the travel route for theunmanned vehicle in the electronic map when the operated object is theunmanned vehicle executing the logistics distribution task.

Optionally, the central control method according to the presentdisclosure may further include: extracting detailed information of thelogistics distribution task, and providing a task management interfacefor displaying the detailed information. The detailed information mayinclude one or more of: a task number, a task type, a goods number, agoods type, loading and unloading addresses, and the identification ofthe unmanned vehicle executing the logistics distribution task.

The information, such as the task number, the task type, the goodsnumber, the goods type, and the loading and unloading addresses can beobtained from an external source, e.g., from an existing logisticsmanagement system, or can be inputted by a user using an input device.The identification of the unmanned vehicle executing the logisticsdistribution task can be determined after the unmanned vehicle wasselected for the logistics distribution task.

Optionally, the central control method according to the presentdisclosure may further include: determining an execution progress of thelogistics distribution task based on the location and state of theunmanned vehicle executing the logistics distribution task, anddisplaying the execution progress in the task management interface.

In a specific implementation, in this step, it can be determined whetherthe unmanned vehicle is on its way to the loading address, has arrivedat the loading address, is on its way to the unloading address, or hasarrived at the unloading address based on the location of the unmannedvehicle and changes thereof over time. In turn, it can be determinedwhether the logistics distribution task is in a state of to beallocated, being executed, or completed. When the logistics distributiontask is in the state of being executed, it can be further determinedwhether the unmanned vehicle is loading or unloading goods based onwhether the location of the unmanned vehicle is the loading address orthe unloading address and whether the traveling speed and the enginerotation speed of the unmanned vehicle are lower than predeterminedspeeds.

Optionally, the central control method according to the presentdisclosure may further include: obtaining a number of goods carried bythe unmanned vehicle executing the logistics distribution task, anddisplaying the identification of the unmanned vehicle in associationwith the number of goods carried by the unmanned vehicle in the taskmanagement interface. In an embodiment, when it is detected that theoperated object is an unmanned vehicle executing a logisticsdistribution task, the identification of the unmanned vehicle and thenumber of the goods carried by the unmanned vehicle can be displayed inassociation with each other in the management interface corresponding tothe type of unmanned vehicles.

Optionally, the central control method according to the presentdisclosure may further include: calculating time required for completingthe logistics distribution task based on a travel route, a location, anda traveling speed of the unmanned vehicle, and displaying the time inthe task management interface. In particular, in this step, the timerequired for the unmanned vehicle to arrive at the loading and unloadingaddresses may be calculated first based on the travel route of theunmanned vehicle and the location and traveling speed of the unmannedvehicle. Then, the time required for completing the logisticsdistribution task can be calculated based further on the time requiredfor loading and unloading in the history. In an embodiment, when it isdetected that the operated object is an unmanned vehicle executing alogistics distribution task, the identification of the unmanned vehicleand the time required for completing the logistics distribution task canbe displayed in association with each other in the management interfacecorresponding to the type of unmanned vehicles.

Based on the same inventive concept, the present disclosure alsoprovides a central control system for monitoring various objects in aclosed logistics distribution area, which will be described in detailbelow.

The present disclosure provides a central control system applied in aclosed logistics distribution area. The central control system includesa second processor, a second memory, and a computer program stored onthe second memory and executable by the second processor. The secondprocessor is configured to execute the computer program to: obtainidentifications, locations and states of objects in a closed logisticsdistribution area; generate and display an electronic map based on theidentifications, locations, and states of the objects; and display, upondetecting that an object in the electronic map is being operated, theidentification, location, and/or state of the operated object.

The method the second processor is configured to perform when executingthe computer program is implemented based on the same inventive conceptas the above central control method shown in FIG. 3 and has the samenon-limiting embodiments as the above central control method shown inFIG. 3 . For further details, reference can be made to the method asdescribed above in connection with FIG. 3 and the description thereofwill be omitted here.

Optionally, in the present disclosure, the second processor may beimplemented as a circuit, a chip or any other electronic component. Forexample, the second processor may also include one or moremicrocontrollers, one or more Field Programmable Gate Arrays (FPGAs),one or more Application Specific Integrated Circuits (ASICs), one ormore Digital Signal Processors (DSPs), one or more integrated circuits,and the like.

Optionally, in the present disclosure, the second memory may beimplemented as a circuit, a chip or any other electronic component. Forexample, the second memory can include one or more Read Only Memories(ROMs), Random Access Memories (RAMs), flash memories, ElectricallyProgrammable ROMs (EPROMs), Electrically Programmable and Erasable ROMs(EEPROMs), embedded Multi-Media Cards (eMMCs), hard drives or anyvolatile or non-volatile mediums.

Based on the inventive idea of the present disclosure, the presentdisclosure also provides a computer readable storage medium. Thecomputer readable storage medium has a computer program stored thereon.The computer program, when executed by a processor, causes the processorto perform the central control method shown in FIG. 3 . The storagemedium may be one or more Read Only Memories (ROMs), Random AccessMemories (RAMs), flash memories, Electrically Programmable ROMs(EPROMs), Electrically Programmable and Erasable ROMs (EEPROMs),embedded Multi-Media Cards (eMMCs), hard drives or any volatile ornon-volatile mediums.

In summary, the central control method applied in a closed logisticsdistribution area and the central control system applied in a closedlogistics distribution area according to the embodiments of the presentdisclosure have the following advantageous effects.

(1) The monitored content can be extended to the information, such asidentifications, locations and states, related to the respectiveobjects. Compared with the existing monitoring system, the monitoring ismore thorough and comprehensive, which is advantageous for improvingoperation security and service execution efficiency in the closedlogistics distribution area.

(2) The monitored objects are extended to objects such asloading/unloading apparatuses, infrastructures and unmanned vehicles,which is advantageous for acquiring real-time situations of therespective loading/unloading apparatuses, infrastructures and unmannedvehicles, such that a timely response can be made in the event ofmalfunctions or disconnections.

(3) A management interface is provided for each type of objects, whichis advantageous for unified management of different types of objects;

(4) The states of various electronic devices mounted on the objects canbe monitored, so as to acquire real-time situations of the electronicdevices and determine whether the electronic devices are malfunctioningand the causes of the malfunctions, which is advantageous for solvingthe problems timely and allow the electronic devices to resumeoperating.

(5) An unmanned vehicle can be automatically selected to perform alogistics distribution task, thereby improving the execution efficiencyof the logistics distribution service, and thus the cargo throughput ofthe closed logistics distribution area.

(6) Based on the monitored related information of the respectiveobjects, a travel route can be automatically planned for the unmannedvehicle executing the logistics distribution task, thereby improving theresource utilization and reducing the logistics distribution cost, whileproviding a visual view of the travel route in the electronic map of theclosed logistics distribution area.

(7) The execution progress and the time required for the logisticsdistribution task can be calculated based on the obtained relatedinformation of the unmanned vehicle. A task management interface can beprovided to display the detailed information and the execution progressof the logistics distribution task, which is advantageous for timelyacquiring the details and progress of the logistics distribution task,so as to improve the efficiency of the logistics distribution.

It should be noted that while the operations of the methods according tothe present disclosure have been described in particular orders in thefigures, it does not require or imply that these operations arenecessarily to be performed in the particular orders, or that all theillustrated operations are necessarily to be performed to achieve thedesired results. Additionally or alternatively, some steps may beomitted, a plurality of steps may be combined into one step, and/or onestep may be divided into a plurality of steps for execution.

While the spirits and principles of the present disclosure have beendescribed with reference to the embodiments of the present disclosure,it is to be understood that the present disclosure is not limited to thedisclosed embodiments. The division into various aspects is for theconvenience of expression only, but does not mean that the features indifferent aspects cannot be combined to achieve advantageous results.The present disclosure is intended to cover various modifications andequivalents that fall within the spirit and scope of the claims asattached.

The above described embodiments are provided for explaining the objects,solutions and advantageous effects of the present disclosure in furtherdetail. It is to be understood that the above embodiments of the presentdisclosure are illustrative only, rather than limiting the scope of thepresent disclosure. All modifications, equivalent, or improvements madewithin the spirit and scope of the present disclosure are to beencompassed by the scope of the present disclosure.

It can be appreciated by those skilled in the art that variousillustrative logical blocks, units, and steps listed in the embodimentsof the present disclosure can be implemented by electronic hardware,computer software, or any combination thereof. To clearly illustrate theinterchangeability of hardware and software, the various illustrativecomponents, units and steps described above have been generallydescribed with respect to their functions. Whether such functions are tobe implemented by hardware or software depends on design requirements ofparticular applications and the overall system. It can be appreciated bythose skilled in the art that for each particular application, thedescribed functions can be implemented using various methods, and suchimplementations should not be construed as being beyond the scope of theembodiments of the present disclosure.

The various illustrative logic blocks, or units, or devices described inthe embodiments of the present disclosure may be implemented by generalpurpose processors, digital signal processors, Application SpecificIntegrated Circuits (ASICs), field programmable gate arrays or otherprogrammable logic devices, discrete gates or transistor logics,discrete hardware components, or any combination or design thereof, soas to implement or operate the described functions. A general purposeprocessor may be a microprocessor. Alternatively, the general purposeprocessor may be any conventional processor, controller,microcontroller, or state machine. The processor may also be implementedby a combination of computing devices, such as a digital signalprocessor and a microprocessor, a plurality of microprocessors, one ormore microprocessors in combination with a digital signal processorcore, or any other similar configurations.

The steps of the method or algorithm described in the embodiments of thepresent disclosure may be directly embedded in hardware or softwaremodules executed by a processor, or any combination thereof. Thesoftware modules can be stored in a RAM, a flash memory, a ROM, anEPROM, an EEPROM, a register, a hard drive, a removable magnetic disk, aCD-ROM, or any other form of storage medium in the art. As an example,the storage medium can be coupled to a processor such that the processorcan read information from the storage medium and write information tothe storage medium. Alternatively, the storage medium can be integratedinto the processor. The processor and the storage medium may be disposedin an ASIC, which can be provided in a user terminal. Alternatively, theprocessor and the storage medium may also be provided in differentcomponents in the user terminal.

In one or more exemplary designs, the functions described above in theembodiments of the present disclosure may be implemented in hardware,software, firmware, or any combination thereof. When implemented insoftware, these functions may be stored on a computer readable medium ortransmitted as one or more instructions or codes to a computer readablemedium. Computer readable mediums may include computer storage mediumsand communication mediums that facilitates transfer of computer programsfrom one place to another. The storage medium can be any availablemedium that any general purpose or special computer can access. Forexample, such computer readable mediums may include, but not limited to:RAMs, ROMs, EEPROMs, CD-ROMs or other optical storages, magnetic diskstorages or other magnetic storage devices, or any other medium that canbe used for carrying or storing program codes in instructions, datastructures or any other forms that can be read by a general purpose orspecial computer or a general purpose or special processor. In addition,any connection can be appropriately defined as a computer readablemedium. For example, if the software is transmitted from a website, aserver, or any other remote sources through a coaxial cable, a fiberoptic cable, a twisted pair, a Digital Subscriber Line (DSL) orwirelessly via e.g., infrared, radio, or microwave, it is also includedin the defined computer readable medium. The disks and discs includecompact disks, laser discs, optical discs, DVDs, floppy disks, andBlu-ray discs. The disks typically replicate data magnetically, whilethe discs typically optically replicate data with a laser. Anycombination of the above may also be included in a computer readablemedium.

I/we claim:
 1. A central control method, comprising: obtainingidentifications, locations and states of objects in an area by a centralcontrol system; displaying, by the central control system, upondetecting that an object in the area is being operated, the state of theoperated object; providing, by the central control system, a managementinterface for each type of object; and obtaining, by the central controlsystem, a state of an electronic device mounted on each object, anddisplaying the state of the electronic device in the managementinterface corresponding to the object, wherein the objects compriseunmanned vehicles, and the states of each unmanned vehicle comprise oneor more of: a driving mode, a traveling speed, an engine rotation speed,or a remaining fuel amount.
 2. The method of claim 1, wherein theobjects further comprise loading/unloading apparatuses andinfrastructures.
 3. The method of claim 2, wherein: theloading/unloading apparatuses comprise one or more of: reach stackers,empty container handling lift trucks, forklifts, closed logisticsdistribution area tire cranes, grabbers, overhead cranes, gantry cranes,rail-mounted container gantry cranes, tire-type container gantry cranes,or shore container cranes, the states of each loading/unloadingapparatus comprise: whether its communication is disconnected, whetherit is working, and/or whether it is malfunctioning, the infrastructurescomprise one or more of: roads, wharfs, container areas, power supplylines, network transmission lines, water supply pipes, fuel supplypipes, natural gas transmission pipes, or gas transmission pipes in theclosed logistics distribution area, and the states of eachinfrastructure comprise: whether its communication is disconnected,whether it is available, and/or whether it is malfunctioning.
 4. Themethod of claim 1, further comprising: displaying, upon detecting thatthe object in the area is being operated, the identification andlocation of the operated object.
 5. The method of claim 1, wherein themanagement interface is further configured to display the identificationand location of each object of the type.
 6. The method of claim 1,further comprising: receiving a logistics distribution task, andscheduling at least one of the unmanned vehicles to execute thelogistics distribution task.
 7. The method of claim 6, furthercomprising: planning a travel route for the at least one of unmannedvehicle executing the logistics distribution task.
 8. The method ofclaim 7, further comprising: displaying the travel route for the atleast one of unmanned vehicle when the operated object is the unmannedvehicle executing the logistics distribution task.
 9. The method ofclaim 6, further comprising: extracting detailed information of thelogistics distribution task, and providing a task management interfacefor displaying the detailed information, wherein the detailedinformation comprises one or more of: a task number, a task type, agoods number, a goods type, loading and unloading addresses, and anidentification of the unmanned vehicle executing the logisticsdistribution task.
 10. The method of claim 9, wherein the identificationof the unmanned vehicle includes at least one of a license plate numberor a media access control (MAC) address of a vehicle mounted device. 11.The method of claim 9, further comprising: determining an executionprogress of the logistics distribution task based on the location andstate of the unmanned vehicle executing the logistics distribution task,and displaying the execution progress in the task management interface.12. The method of claim 11, wherein the state of the unmanned vehicleincludes at least one of: whether a communication of the unmannedvehicle is disconnected; a driving mode of the unmanned vehicle; atraveling speed of the unmanned vehicle; an engine rotation speed of theunmanned vehicle; and a remaining fuel amount of the unmanned vehicle.13. The method of claim 9, further comprising: obtaining a number ofgoods carried by the unmanned vehicle executing the logisticsdistribution task; and displaying the identification of the unmannedvehicle in association with the number of goods carried by the unmannedvehicle in the task management interface.
 14. The method of claim 9,further comprising: calculating time required for completing thelogistics distribution task based on a travel route, a location, and atraveling speed of the unmanned vehicle; and displaying the time in thetask management interface.
 15. A central control system, comprising aprocessor, a memory, and a computer program stored on the memory andexecutable by the processor, wherein the computer program, when executedby the processor, performs steps comprising: obtaining identifications,locations and states of objects in an area by a central control system;displaying, by the central control system, upon detecting that an objectin the area is being operated, the state of the operated object;providing, by the central control system, a management interface foreach type of object; and obtaining, by the central control system, astate of an electronic device mounted on each object, and displaying thestate of the electronic device in the management interface correspondingto the object, wherein the objects comprise unmanned vehicles, and thestates of each unmanned vehicle comprise one or more of: a driving mode,a traveling speed, an engine rotation speed, and a remaining fuelamount.
 16. The system of claim 15, wherein the computer program, whenexecuted by the processor, further performs steps comprising:displaying, upon detecting that the object in the area is beingoperated, the identification and location of the operated object. 17.The system of claim 15, wherein the computer program, when executed bythe processor, further performs steps comprising: receiving a logisticsdistribution task, and scheduling the at least one of unmanned vehiclesto execute the logistics distribution task.
 18. A non-transitorycomputer readable storage medium having a computer program storedthereon, wherein the computer program, when executed by a processor,performs steps comprising; obtaining identifications, locations andstates of objects in an area by a central control system; displaying, bythe central control system, upon detecting that an object in the area isbeing operated, the state of the operated object; providing, by thecentral control system, a management interface for each type of object;and obtaining, by the central control system, a state of an electronicdevice mounted on each object, and displaying the state of theelectronic device in the management interface corresponding to theobject, wherein the objects comprise unmanned vehicles, and the statesof each unmanned vehicle comprise one or more of: a driving mode, atraveling speed, an engine rotation speed, or a remaining fuel amount.19. The system of claim 18, wherein the computer program, when executedby the processor, further performs steps comprising: displaying, upondetecting that the object in the area is being operated, theidentification and location of the operated object.
 20. The system ofclaim 18, wherein the computer program, when executed by the processor,further performs steps comprising: receiving a logistics distributiontask, and scheduling the at least one of unmanned vehicle to execute thelogistics distribution task.